fix(physics): Phase 2 — synthesize indoor walkable plane from cell floor
When the indoor cell-BSP query returns OK (no wall collision), the player is standing on a floor poly inside the cell. Previously the code fell through to outdoor terrain (SampleTerrainWalkable + ValidateWalkable), which used the OUTDOOR terrain plane — below the indoor floor due to the +0.02f Z-bump applied for render z-fight prevention. ValidateWalkable saw the player 0.5m above the outdoor plane → marked them as airborne → walkable=False → falling animation, never recovers. Adds TryFindIndoorWalkablePlane (internal static for testability): scans the cell's resolved physics polys for a walkable floor poly (normal.Z >= 0.6664, walkable-slope threshold matching retail) under the player's XY, transforms its plane + vertices to world space via WorldTransform, and calls ValidateWalkable with the indoor plane. Adds PointInPolygonXY (ray-casting even-odd rule, ignores Z). Both are wired just after the BSP OK branch in FindEnvCollisions; outdoor terrain remains a defensive backstop if no floor poly is found under the player indoors (rare). Matches retail's CEnvCell::find_env_collisions behavior: no fall-through to terrain when the cell BSP successfully completes a query. Evidence: launch-phase2-verify5.log captured 12,141 walkable=False events during an indoor session where the player never managed to walk back outdoor through a door — they got stuck against the indoor wall and the resolver never re-established a walkable contact plane. Adds 13 unit tests in IndoorWalkablePlaneTests.cs covering: - player over floor poly (returns true, plane normal up, plane at correct Z) - player outside poly XY (returns false) - no walkable polys (returns false) - empty Resolved dict (returns false) - cell with world translation (plane + vertices in world space) - PointInPolygonXY cases (centre, near corner, on boundary, outside, Z ignored) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Erik
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@ -1166,6 +1166,92 @@ public sealed class Transition
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// Environment collision — outdoor terrain
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// -----------------------------------------------------------------------
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/// <summary>
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/// Indoor walking Phase 2 follow-up (2026-05-19). Finds the walkable floor
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/// polygon directly under <paramref name="localFootCenter"/> within
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/// <paramref name="cellPhysics"/>. Used when the indoor cell-BSP query
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/// returns OK (no wall collision) — we need to provide a walkable contact
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/// plane from the cell's geometry instead of falling through to outdoor
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/// terrain (which is below the cell floor due to the +0.02f Z-bump
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/// applied at <c>GameWindow.BuildInteriorEntitiesForStreaming</c>).
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///
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/// <para>
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/// Iterates <see cref="CellPhysics.Resolved"/> physics polygons; selects
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/// the one with the most upward-facing normal (Z >= 0.6664 = walkable
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/// slope threshold matching retail's WalkableSlopeMin) whose XY projection
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/// contains the player's local foot XY. Returns the polygon's plane +
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/// vertices in WORLD space for the <c>ValidateWalkable</c> call.
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/// </para>
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///
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/// <para>
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/// Returns <c>false</c> if no walkable floor poly is found under the
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/// player. The caller falls through to outdoor terrain in that case
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/// (defensive backstop — should not normally happen inside a sealed cell).
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/// </para>
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/// </summary>
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internal static bool TryFindIndoorWalkablePlane(
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CellPhysics cellPhysics,
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Vector3 localFootCenter,
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out System.Numerics.Plane worldPlane,
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out Vector3[] worldVertices,
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out uint hitPolyId)
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{
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worldPlane = default;
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worldVertices = System.Array.Empty<Vector3>();
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hitPolyId = 0;
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foreach (var (id, poly) in cellPhysics.Resolved)
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{
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// Walkable slope threshold matches retail WalkableSlopeMin (0.6664...)
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// and our existing TerrainSurface.WalkableSlopeMin check.
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if (poly.Plane.Normal.Z < 0.6664f) continue;
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if (poly.Vertices is null || poly.Vertices.Length < 3) continue;
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// Point-in-polygon test in XY (ignore Z). Ray-casting even-odd rule.
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if (!PointInPolygonXY(localFootCenter, poly.Vertices)) continue;
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// Found a floor poly under the player. Transform plane + vertices
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// to world space.
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var worldNormal = Vector3.TransformNormal(poly.Plane.Normal, cellPhysics.WorldTransform);
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worldNormal = Vector3.Normalize(worldNormal);
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// Take vertex 0, transform to world, recompute D so the plane
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// equation normal·p + D = 0 holds at the world-space vertex.
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var worldV0 = Vector3.Transform(poly.Vertices[0], cellPhysics.WorldTransform);
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float worldD = -Vector3.Dot(worldNormal, worldV0);
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worldPlane = new System.Numerics.Plane(worldNormal, worldD);
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worldVertices = new Vector3[poly.Vertices.Length];
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for (int i = 0; i < poly.Vertices.Length; i++)
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worldVertices[i] = Vector3.Transform(poly.Vertices[i], cellPhysics.WorldTransform);
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hitPolyId = id;
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return true;
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}
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return false;
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}
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/// <summary>
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/// Point-in-polygon test in the XY plane (ignores Z). Standard ray-casting
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/// even-odd rule. Works for convex and concave polygons.
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/// </summary>
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internal static bool PointInPolygonXY(Vector3 point, Vector3[] vertices)
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{
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bool inside = false;
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int n = vertices.Length;
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for (int i = 0, j = n - 1; i < n; j = i++)
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{
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var vi = vertices[i];
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var vj = vertices[j];
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if (((vi.Y > point.Y) != (vj.Y > point.Y)) &&
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(point.X < (vj.X - vi.X) * (point.Y - vi.Y) / (vj.Y - vi.Y) + vi.X))
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{
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inside = !inside;
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}
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}
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return inside;
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}
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/// <summary>
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/// Query the outdoor terrain at CheckPos and apply ValidateWalkable logic.
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/// Indoor BSP collision is deferred to Task 6c.
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@ -1255,6 +1341,39 @@ public sealed class Transition
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ci.CollidedWithEnvironment = true;
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return cellState;
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}
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// ── Synthesize indoor walkable contact plane ──────────────
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// Indoor walking Phase 2 follow-up (2026-05-19). When the BSP
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// returns OK (no wall collision), the player is standing on a
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// floor poly inside the cell. We must NOT fall through to
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// outdoor terrain (SampleTerrainWalkable) — the outdoor terrain
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// Z is below the indoor floor due to the +0.02f Z-bump applied
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// for render z-fight prevention. ValidateWalkable would then see
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// the player 0.5m above the outdoor plane → marks them as
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// airborne → walkable=False → falling animation, never recovers.
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//
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// Retail: CEnvCell::find_env_collisions returns from the cell
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// branch with the cell's walkable plane set — no fall-through
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// to terrain.
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if (TryFindIndoorWalkablePlane(cellPhysics, localCenter,
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out var indoorPlane,
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out var indoorVertices,
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out uint _))
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{
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return ValidateWalkable(
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footCenter,
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sphereRadius,
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indoorPlane,
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isWater: false,
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waterDepth: 0f,
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cellId: sp.CheckCellId,
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walkableVertices: indoorVertices);
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}
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// If no walkable floor was found under the player indoors
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// (rare — cell with only walls/ceiling), fall through to
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// outdoor terrain as a defensive backstop. Indoor walking
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// will report walkable=False until the player moves over a
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// cell with a proper floor poly.
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}
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}
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